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We present RoboGen, a generative robotic agent that automatically learns diverse robotic skills at scale via generative simulation. RoboGen leverages the latest advancements in foundation and generative models. Instead of directly using or adapting these models to produce policies or low-level actions, we advocate for a generative scheme, which uses these models to automatically generate diversified tasks, scenes, and training supervisions, thereby scaling up robotic skill learning with minimal human supervision. Our approach equips a robotic agent with a self-guided propose-generate-learn cycle: the agent first proposes interesting tasks and skills to develop, and then generates corresponding simulation environments by populating pertinent objects and assets with proper spatial configurations. Afterwards, the agent decomposes the proposed high-level task into sub-tasks, selects the optimal learning approach (reinforcement learning, motion planning, or trajectory optimization), generates required training supervision, and then learns policies to acquire the proposed skill. Our work attempts to extract the extensive and versatile knowledge embedded in large-scale models and transfer them to the field of robotics. Our fully generative pipeline can be queried repeatedly, producing an endless stream of skill demonstrations associated with diverse tasks and environments.

We present a unified probabilistic formulation for diffusion-based image editing, where a latent variable is edited in a task-specific manner and generally deviates from the corresponding marginal distribution induced by the original stochastic or ordinary differential equation (SDE or ODE). Instead, it defines a corresponding SDE or ODE for editing. In the formulation, we prove that the Kullback-Leibler divergence between the marginal distributions of the two SDEs gradually decreases while that for the ODEs remains as the time approaches zero, which shows the promise of SDE in image editing. Inspired by it, we provide the SDE counterparts for widely used ODE baselines in various tasks including inpainting and image-to-image translation, where SDE shows a consistent and substantial improvement. Moreover, we propose SDE-Drag -- a simple yet effective method built upon the SDE formulation for point-based content dragging. We build a challenging benchmark (termed DragBench) with open-set natural, art, and AI-generated images for evaluation. A user study on DragBench indicates that SDE-Drag significantly outperforms our ODE baseline, existing diffusion-based methods, and the renowned DragGAN. Our results demonstrate the superiority and versatility of SDE in image editing and push the boundary of diffusion-based editing methods.

Cone-beam computed tomography (CBCT) is routinely collected during image-guided radiation therapy (IGRT) to provide updated patient anatomy information for cancer treatments. However, CBCT images often suffer from streaking artifacts and noise caused by under-rate sampling projections and low-dose exposure, resulting in low clarity and information loss. While recent deep learning-based CBCT enhancement methods have shown promising results in suppressing artifacts, they have limited performance on preserving anatomical details since conventional pixel-to-pixel loss functions are incapable of describing detailed anatomy. To address this issue, we propose a novel feature-oriented deep learning framework that translates low-quality CBCT images into high-quality CT-like imaging via a multi-task customized feature-to-feature perceptual loss function. The framework comprises two main components: a multi-task learning feature-selection network(MTFS-Net) for customizing the perceptual loss function; and a CBCT-to-CT translation network guided by feature-to-feature perceptual loss, which uses advanced generative models such as U-Net, GAN and CycleGAN. Our experiments showed that the proposed framework can generate synthesized CT (sCT) images for the lung that achieved a high similarity to CT images, with an average SSIM index of 0.9869 and an average PSNR index of 39.9621. The sCT images also achieved visually pleasing performance with effective artifacts suppression, noise reduction, and distinctive anatomical details preservation. Our experiment results indicate that the proposed framework outperforms the state-of-the-art models for pulmonary CBCT enhancement. This framework holds great promise for generating high-quality anatomical imaging from CBCT that is suitable for various clinical applications.

As human-robot interaction (HRI) systems advance, so does the difficulty of evaluating and understanding the strengths and limitations of these systems in different environments and with different users. To this end, previous methods have algorithmically generated diverse scenarios that reveal system failures in a shared control teleoperation task. However, these methods require directly evaluating generated scenarios by simulating robot policies and human actions. The computational cost of these evaluations limits their applicability in more complex domains. Thus, we propose augmenting scenario generation systems with surrogate models that predict both human and robot behaviors. In the shared control teleoperation domain and a more complex shared workspace collaboration task, we show that surrogate assisted scenario generation efficiently synthesizes diverse datasets of challenging scenarios. We demonstrate that these failures are reproducible in real-world interactions.

Entity Set Expansion (ESE) is a critical task aiming at expanding entities of the target semantic class described by seed entities. Most existing ESE methods are retrieval-based frameworks that need to extract contextual features of entities and calculate the similarity between seed entities and candidate entities. To achieve the two purposes, they iteratively traverse the corpus and the entity vocabulary, resulting in poor efficiency and scalability. Experimental results indicate that the time consumed by the retrieval-based ESE methods increases linearly with entity vocabulary and corpus size. In this paper, we firstly propose Generative Entity Set Expansion (GenExpan) framework, which utilizes a generative pre-trained auto-regressive language model to accomplish ESE task. Specifically, a prefix tree is employed to guarantee the validity of entity generation, and automatically generated class names are adopted to guide the model to generate target entities. Moreover, we propose Knowledge Calibration and Generative Ranking to further bridge the gap between generic knowledge of the language model and the goal of ESE task. For efficiency, expansion time consumed by GenExpan is independent of entity vocabulary and corpus size, and GenExpan achieves an average 600% speedup compared to strong baselines. For expansion effectiveness, our framework outperforms previous state-of-the-art ESE methods.

The creation of lifelike speech-driven 3D facial animation requires a natural and precise synchronization between audio input and facial expressions. However, existing works still fail to render shapes with flexible head poses and natural facial details (e.g., wrinkles). This limitation is mainly due to two aspects: 1) Collecting training set with detailed 3D facial shapes is highly expensive. This scarcity of detailed shape annotations hinders the training of models with expressive facial animation. 2) Compared to mouth movement, the head pose is much less correlated to speech content. Consequently, concurrent modeling of both mouth movement and head pose yields the lack of facial movement controllability. To address these challenges, we introduce VividTalker, a new framework designed to facilitate speech-driven 3D facial animation characterized by flexible head pose and natural facial details. Specifically, we explicitly disentangle facial animation into head pose and mouth movement and encode them separately into discrete latent spaces. Then, these attributes are generated through an autoregressive process leveraging a window-based Transformer architecture. To augment the richness of 3D facial animation, we construct a new 3D dataset with detailed shapes and learn to synthesize facial details in line with speech content. Extensive quantitative and qualitative experiments demonstrate that VividTalker outperforms state-of-the-art methods, resulting in vivid and realistic speech-driven 3D facial animation.

A robot in a human-centric environment needs to account for the human's intent and future motion in its task and motion planning to ensure safe and effective operation. This requires symbolic reasoning about probable future actions and the ability to tie these actions to specific locations in the physical environment. While one can train behavioral models capable of predicting human motion from past activities, this approach requires large amounts of data to achieve acceptable long-horizon predictions. More importantly, the resulting models are constrained to specific data formats and modalities. Moreover, connecting predictions from such models to the environment at hand to ensure the applicability of these predictions is an unsolved problem. We present a system that utilizes a Large Language Model (LLM) to infer a human's next actions from a range of modalities without fine-tuning. A novel aspect of our system that is critical to robotics applications is that it links the predicted actions to specific locations in a semantic map of the environment. Our method leverages the fact that LLMs, trained on a vast corpus of text describing typical human behaviors, encode substantial world knowledge, including probable sequences of human actions and activities. We demonstrate how these localized activity predictions can be incorporated in a human-aware task planner for an assistive robot to reduce the occurrences of undesirable human-robot interactions by 29.2% on average.

Retrieving object instances among cluttered scenes efficiently requires compact yet comprehensive regional image representations. Intuitively, object semantics can help build the index that focuses on the most relevant regions. However, due to the lack of bounding-box datasets for objects of interest among retrieval benchmarks, most recent work on regional representations has focused on either uniform or class-agnostic region selection. In this paper, we first fill the void by providing a new dataset of landmark bounding boxes, based on the Google Landmarks dataset, that includes $94k$ images with manually curated boxes from $15k$ unique landmarks. Then, we demonstrate how a trained landmark detector, using our new dataset, can be leveraged to index image regions and improve retrieval accuracy while being much more efficient than existing regional methods. In addition, we further introduce a novel regional aggregated selective match kernel (R-ASMK) to effectively combine information from detected regions into an improved holistic image representation. R-ASMK boosts image retrieval accuracy substantially at no additional memory cost, while even outperforming systems that index image regions independently. Our complete image retrieval system improves upon the previous state-of-the-art by significant margins on the Revisited Oxford and Paris datasets. Code and data will be released.

Recent advancements in deep neural networks for graph-structured data have led to state-of-the-art performance on recommender system benchmarks. However, making these methods practical and scalable to web-scale recommendation tasks with billions of items and hundreds of millions of users remains a challenge. Here we describe a large-scale deep recommendation engine that we developed and deployed at Pinterest. We develop a data-efficient Graph Convolutional Network (GCN) algorithm PinSage, which combines efficient random walks and graph convolutions to generate embeddings of nodes (i.e., items) that incorporate both graph structure as well as node feature information. Compared to prior GCN approaches, we develop a novel method based on highly efficient random walks to structure the convolutions and design a novel training strategy that relies on harder-and-harder training examples to improve robustness and convergence of the model. We also develop an efficient MapReduce model inference algorithm to generate embeddings using a trained model. We deploy PinSage at Pinterest and train it on 7.5 billion examples on a graph with 3 billion nodes representing pins and boards, and 18 billion edges. According to offline metrics, user studies and A/B tests, PinSage generates higher-quality recommendations than comparable deep learning and graph-based alternatives. To our knowledge, this is the largest application of deep graph embeddings to date and paves the way for a new generation of web-scale recommender systems based on graph convolutional architectures.

High spectral dimensionality and the shortage of annotations make hyperspectral image (HSI) classification a challenging problem. Recent studies suggest that convolutional neural networks can learn discriminative spatial features, which play a paramount role in HSI interpretation. However, most of these methods ignore the distinctive spectral-spatial characteristic of hyperspectral data. In addition, a large amount of unlabeled data remains an unexploited gold mine for efficient data use. Therefore, we proposed an integration of generative adversarial networks (GANs) and probabilistic graphical models for HSI classification. Specifically, we used a spectral-spatial generator and a discriminator to identify land cover categories of hyperspectral cubes. Moreover, to take advantage of a large amount of unlabeled data, we adopted a conditional random field to refine the preliminary classification results generated by GANs. Experimental results obtained using two commonly studied datasets demonstrate that the proposed framework achieved encouraging classification accuracy using a small number of data for training.